Transcript Shangming Wei, Miloš Žefran ECE Department, University of

Hybrid Model Predictive Control
for Stabilization of Wheeled Mobile Robots
Subject to Wheel Slippage
Shangming Wei and Miloš Žefran
Dept. of Electrical and Computer Eng., University of Illinois at Chicago, USA
Kasemsak Uthaichana and Raymond A. DeCarlo
School of Electrical and Computer Engineering, Purdue University, USA
• The problem of stabilizing wheeled mobile robots
(WMR) subject to wheel slippage is studied.
• Model predictive control (MPC) used, thus a sequence
of hybrid optimal control problems needs to be solved.
• Using recently developed embedding techniques,
hybrid optimal control converted to a smooth problem.
• The numerical techniques that lead to efficient and
robust MPC algorithms are discussed.
WMR Stabilization
Problem
MPC
Hybrid Optimal
Control Problem
Embedding
Smooth Optimal
Control Problem
Nonlinear Programming
Control Input